Operational Space Controller

A work-in-progress implementation of a basic low-level operational space control used for whole body task-space control of articulated robotic systems subject to contact.

About The Project

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Getting Started

Prerequisites

osc requires the following third-party libraries in order to be built and installed.

• boost (Version 1.70 or higher)
• bopt
• pinocchio
• casadi

For testing purposes we have (this is later be a toggle-able option):

• googletest
• glog

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Installation

1. Clone the repo

   git clone https://github.com/dazzmo/osc

2. Build the library

   cd osc
   mkdir build && cd build
   cmake ..
   make

3. Installation of the library can then be performed by

   make install

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License

Distributed under the GNU LESSER GENERAL PUBLIC LICENSE License. See LICENSE.txt for more information.

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Contact

Damian Abood - damian.abood@sydney.edu.au

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Acknowledgements

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